CN107831772A

CN107831772A - Arrangement method, device and the robot of cleaning route

Info

Publication number: CN107831772A
Application number: CN201711147366.1A
Authority: CN
Inventors: 栾成志; 谭平; 潘俊威; 刘坤
Original assignee: Beijing Qihoo Technology Co Ltd
Current assignee: Beijing Qihoo Technology Co Ltd
Priority date: 2017-11-17
Filing date: 2017-11-17
Publication date: 2018-03-23

Abstract

The invention discloses a kind of arrangement method of cleaning route, device and robot, by controlling border row of the clean robot along region to be cleaned to take a round, and records closed path curve corresponding in walking process；It is determined that positioned at the enclosed region of closed path curvilinear inner, calculate respectively enclosed region correspond to first direction the accumulation of the first length and and enclosed region correspond to second direction the accumulation of the second length and；By the first length accumulation and and the second length accumulate and be compared, the arragement direction of cleaning route is determined according to comparative result；Arranged along arragement direction in enclosed region a plurality of cleaning route.This method by calculate in the region in closed path curve two different directions length accumulation and, accumulated according to the length and determine cleaning route arragement direction, so as to cleaning route of arranging, it can avoid causing clean robot frequently to be reversed end for end because the setting of cleaning route direction is unreasonable, save energy consumption and lift the cleaning speed of clean robot.

Description

Arrangement method, device and the robot of cleaning route

Technical field

The present invention relates to Smart Home technical field, and in particular to a kind of arrangement method of cleaning route, device and machine People.

Background technology

Microprocessor, sensor technology, the network communications technology are introduced traditional home appliance equipment and formed by intelligent appliance, At present, increasing home appliance employs intelligent control technology, and intelligent appliance can improve the quality of life of people, with The continuous development of science and technology and the demand of people constantly expand, and people have higher requirement for the intelligent of intelligent appliance.

Clean robot is a typical representative in intelligent appliance, and it can be cleaned to ground automatically.But send out A person of good sense has found during the present invention is realized：The cleaning route of clean robot of the prior art is single, it is impossible to according to reality Border environment flexible planning cleaning route, when clean robot cleans in elongated zones, exist because cleaning route direction is set The unreasonable and situation that causes robot frequently to reverse end for end, clean robot power consumption increase and cleaning effect is preferable not to the utmost.

The content of the invention

In view of the above problems, it is proposed that the present invention so as to provide one kind overcome above mentioned problem or at least in part solve on State the arrangement method, device and robot of the cleaning route of problem.

According to an aspect of the invention, there is provided a kind of arrangement method of cleaning route, including：

Control border row of the clean robot along region to be cleaned to take a round, and record closure corresponding in walking process Path curve；

It is determined that positioned at the enclosed region of the closed path curvilinear inner, the enclosed region is calculated respectively corresponding to first Direction the first length accumulation and and the enclosed region correspond to second direction the second length accumulation and；

By first length accumulation and and second length accumulate and be compared, determined according to comparative result clear The arragement direction of clean route；

Arranged along the arragement direction in the enclosed region a plurality of cleaning route.

Alternatively, it is described by first length accumulation and and second length accumulate and be compared, according to than Relatively result determines that the step of arragement direction of cleaning route specifically includes：

Determine first length accumulation and whether be more than second length accumulation and；

If, it is determined that the arragement direction of the cleaning route is identical with the first direction；If not, it is determined that described clear The arragement direction of clean route is identical with the second direction.

Alternatively, it is described determine first length accumulation and whether be more than second length accumulation and the step of it Before, further comprise step：

Calculate first length accumulation and with second length accumulation and between difference, whether judge the difference More than preset difference value threshold value；

If so, then perform the step for determining the first length accumulation and whether being more than second length accumulation sum Suddenly；

If it is not, the arragement direction of the cleaning route is then determined according to default arranging rule.

Alternatively, the default arranging rule includes：

Judge the first length accumulation and accumulate with second length and whether be respectively smaller than pre-set length threshold, if Be then calculate the enclosed region corresponding to third direction the 3rd length accumulation and；

Judge the 3rd length accumulation and whether be more than the pre-set length threshold, if, it is determined that the cleaning road The arragement direction of line is identical with the third direction.

Alternatively, the first direction is the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is Parallel to the direction of the longitudinal coordinate axle in preset coordinate system, then the third direction is the original by the preset coordinate system Point, and between the transverse coordinate axis in predetermined angle straight line corresponding to direction.

Alternatively, the predetermined angle is 45 degree.

Alternatively, the default arranging rule includes：Determine that the arragement direction of the cleaning route is identical with first direction, Or determine that the arragement direction of the cleaning route is identical with second direction.

Alternatively, before the step of border row of the control clean robot along region to be cleaned takes a round, further Including：

Environmental map corresponding to the clean robot is divided into multiple blocks；

Rule is determined according to default effective block, each block in the multiple block is defined as effective district successively Block, then the region to be cleaned is the region in the currently active block.

Alternatively, for each block, the block is further divided into multiple grids, then it is described to calculate the closed area Domain correspond to first direction the first length accumulation and the step of specifically include：Obtain first party described in the enclosed region interior edge To the quantity of the grid of arrangement, determine that the enclosed region corresponds to first party according to the quantity of the grid and lattice dimensions To the first length accumulation and；

It is described calculate the enclosed region correspond to second direction the accumulation of the second length and the step of specifically include：Obtain The quantity for the grid that second direction described in the enclosed region interior edge is arranged, it is true according to the quantity of the grid and lattice dimensions The fixed enclosed region correspond to second direction the accumulation of the second length and.

Alternatively, the quantity for obtaining the grid of first direction arrangement described in the enclosed region interior edge, according to described The quantity and lattice dimensions of grid determine the enclosed region correspond to first direction the first length accumulation and the step of have Body includes：When the quantity for the grid that first direction described in the enclosed region interior edge is arranged is multigroup, multigroup quantity institute is calculated Corresponding maximum, average value and/or minimum value, it is true according to the maximum, average value and/or minimum value and lattice dimensions The fixed enclosed region correspond to first direction the accumulation of the first length and；

The quantity for obtaining the grid of second direction arrangement described in the enclosed region interior edge, according to the number of the grid Amount and lattice dimensions determine the enclosed region correspond to second direction the second length accumulation and the step of specifically include：When When the quantity for the grid that second direction described in the enclosed region interior edge is arranged is multigroup, the maximum corresponding to multigroup quantity is calculated Value, average value and/or minimum value, the closure is determined according to the maximum, average value and/or minimum value and lattice dimensions Region correspond to second direction the second length accumulation and.

Alternatively, it is described along the arragement direction a plurality of cleaning route is arranged in the enclosed region the step of after, Further comprise：

It is determined that the reachable region corresponding with the closed path curve and corresponding with the closed path curve Non- reachable region；

State value corresponding to the reachable region is arranged to the first numerical value, by corresponding to the non-reachable region State value be arranged to second value；

The state value corresponding to two end points of every cleaning route is recorded respectively, is filtered out from a plurality of cleaning route State value corresponding to two end points is the cleaning route of second value.

Alternatively, the reachable region corresponding with the closed path curve is located in the closed path curve The inside for the enclosed region that portion is formed；The non-reachable region corresponding with the closed path curve is located at the closure The outside for the enclosed region that path curve is internally formed.

Alternatively, the reachable region corresponding with the closed path curve includes：According to the cleaning machine The non-barrier region that environmental map corresponding to people determines；The non-reachable area corresponding with the closed path curve Domain includes：The barrier region that environmental map according to corresponding to the clean robot determines.

According to another aspect of the present invention, there is provided a kind of arrangement apparatus of cleaning route, including：

Control module, taken a round suitable for border row of the control clean robot along region to be cleaned；

Logging modle, suitable for closed path curve corresponding in record walking process；

Computing module, the enclosed region positioned at the closed path curvilinear inner is adapted to determine that, calculates the closure respectively Region correspond to first direction the first length accumulation and and the enclosed region correspond to second direction the second length tire out Product and；

Arragement direction determining module, suitable for by first length accumulation and and second length accumulate and compared Compared with determining the arragement direction of cleaning route according to comparative result；

Cleaning route is arranged module, suitable for being arranged along the arragement direction in the enclosed region a plurality of cleaning route.

Alternatively, the arragement direction determining module is further adapted for：

Alternatively, described device further comprises：

Difference judge module：Calculate first length accumulation and with second length accumulation and between difference, sentence Whether the difference of breaking is more than preset difference value threshold value；

The arragement direction determining module is further adapted for, if the difference is more than preset difference value threshold value, perform described in Determine first length accumulation and whether be more than second length accumulation and the step of；

The arragement direction determining module is further adapted for, if the difference is not more than preset difference value threshold value, according to pre- If arranging rule determines the arragement direction of the cleaning route.

Alternatively, the default arranging rule includes：

Alternatively, the predetermined angle is 45 degree.

Alternatively, described device further comprises：

Segmenting device, suitable for the environmental map corresponding to the clean robot is divided into multiple blocks；

Effective block determining module, suitable for determining rule according to default effective block, successively by the multiple block Each block be defined as effective block, then the region to be cleaned is region in the currently active block.

Alternatively, for each block, the block is further divided into multiple grids, then the computing module is further It is suitable to：Obtain the quantity for the grid that first direction described in the enclosed region interior edge is arranged, according to the quantity of the grid and Lattice dimensions determine the enclosed region correspond to first direction the first length accumulation and；

The computing module is further adapted for：Obtain the number for the grid that second direction described in the enclosed region interior edge is arranged Amount, determine that the enclosed region corresponds to the second length accumulation of second direction according to the quantity of the grid and lattice dimensions With.

Alternatively, the computing module is further adapted for：When the grid that first direction described in the enclosed region interior edge is arranged The quantity of lattice for it is multigroup when, calculate maximum, average value and/or the minimum value corresponding to multigroup quantity, according to the maximum, Average value and/or minimum value and lattice dimensions determine the enclosed region correspond to first direction the first length accumulation and；

The computing module is further adapted for：When the quantity for the grid that second direction described in the enclosed region interior edge is arranged For it is multigroup when, maximum, average value and/or the minimum value corresponding to multigroup quantity are calculated, according to the maximum, average value And/or minimum value and lattice dimensions determine the enclosed region correspond to second direction the second length accumulation and.

Alternatively, described device further comprises：

Area determination module, it is adapted to determine that the reachable region corresponding with the closed path curve and is closed with described The corresponding non-reachable region of combining diametal curve；

State setting module, suitable for the state value corresponding to the reachable region is arranged into the first numerical value, by described in State value corresponding to non-reachable region is arranged to second value；

Logging modle, suitable for recording the state value corresponding to two end points of every cleaning route respectively, from described a plurality of The cleaning route that the state value corresponding to two end points is second value is filtered out in cleaning route.

According to another aspect of the present invention, there is provided a kind of robot, include the arrangement apparatus of above-mentioned cleaning route.

According to another aspect of the invention, there is provided a kind of computing device, including：Processor, memory, communication interface and Communication bus, the processor, the memory and the communication interface complete mutual communication by the communication bus；

The memory is used to deposit an at least executable instruction, and the executable instruction makes the computing device above-mentioned Operated corresponding to the arrangement method of cleaning route.

In accordance with a further aspect of the present invention, there is provided a kind of computer-readable storage medium, be stored with the storage medium to A few executable instruction, the executable instruction make computing device be operated as corresponding to the arrangement method of above-mentioned cleaning route.

The invention discloses a kind of arrangement method of cleaning route, device and robot, by controlling clean robot edge The border row in region to be cleaned takes a round, and records closed path curve corresponding in walking process；It is determined that positioned at closure road Enclosed region inside diametal curve, the accumulation of the first length and and closed area that enclosed region corresponds to first direction are calculated respectively Domain correspond to second direction the second length accumulation and；By the first length accumulation and and the second length accumulate and be compared, The arragement direction of cleaning route is determined according to comparative result；Arranged along arragement direction in enclosed region a plurality of cleaning route；This Invent the method that provides by calculate in the region in closed path curve two different directions length accumulation and, according to the length Degree accumulation and determination cleaning route arragement direction, so as to cleaning route of arranging, it can avoid not conforming to because cleaning route direction is set Manage and cause clean robot frequently to be reversed end for end, so as to save energy consumption and lift the cleaning speed of clean robot.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can Become apparent, below especially exemplified by the embodiment of the present invention.

Brief description of the drawings

By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：

Fig. 1 shows the schematic flow sheet of the arrangement method of cleaning route according to an embodiment of the invention；

Fig. 2 shows the schematic flow sheet of the arrangement method of cleaning route in accordance with another embodiment of the present invention；

Fig. 3 shows the schematic diagram of grid in the enclosed region according to another embodiment of the invention；

Fig. 4 shows the schematic diagram of the enclosed region according to corresponding to the closed path curve of another embodiment of the invention；

Fig. 5 shows the schematic diagram of cleaning route in accordance with another embodiment of the present invention；

Fig. 6 shows the structural representation of the arrangement apparatus of the cleaning route according to another embodiment of the invention；

Fig. 7 shows the structural representation of computing device according to embodiments of the present invention.

Embodiment

The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure Completely it is communicated to those skilled in the art.

Fig. 1 shows the schematic flow sheet of the arrangement method of cleaning route according to an embodiment of the invention, such as Fig. 1 institutes Show, this method includes：

Step S100, border row of the control clean robot along region to be cleaned takes a round, and records institute in walking process Corresponding closed path curve.

Clean robot can determine region to be cleaned by the environmental map got, and record clean robot is treated on edge The closed path curve that is formed during the border row in cleaning region takes a round, according to the closed path curve come determine can Region and non-reachable region are reached, with for use by following step S101 to step S103, the cleaning in region to be cleaned of arranging Route.

Step S101, it is determined that positioned at the enclosed region of closed path curvilinear inner, enclosed region is calculated respectively and corresponds to the One direction the first length accumulation and and enclosed region correspond to second direction the second length accumulation and.

In the application of reality, clean robot is cleaned according to the cleaning route pre-set, but according to fixation A direction set cleaning route be not suitable for various scenes, the cleaning route in long and narrow region may be made unreasonable, Clean robot is repeatedly reversed end for end when cleaning the long and narrow region, but for clean robot, in design cleaning route When, it is necessary to make cleaning route as long as possible, it is clear so as to improve to reduce u-turn number of the clean robot during cleaning Clean efficiency, the method that the present embodiment provides can rationally arrange cleaning route according to information such as the shape in region to be cleaned, the length of sides, So that clean robot is cleaned by cleaning route.

Can specifically calculate in the following manner the first length accumulation and and the second length accumulation and：

Mode one：By setting a plurality of laterally separated line according to default spacing in the enclosed region in advance, by a plurality of horizontal stroke Added up to the length of separator bar, then divided by laterally separated line total number, obtain the first length accumulation and, similarly can by A plurality of longitudinal subdivision line is set according to above-mentioned default spacing in enclosed region, the length of a plurality of longitudinal subdivision line added up, then Divided by the total number of longitudinal subdivision line, obtain the second length accumulation and, wherein, a plurality of laterally separated line and a plurality of longitudinal subdivision Line be only used for calculate the first length accumulation and and the second length accumulation and, different from cleaning route.

Mode two：Can also be by by most long or most short distance is used as the first length and tired out on horizontal direction in enclosed region Product and, on longitudinal direction most long or most short distance as the second length accumulation and.Certainly, the present invention can also pass through other Mode calculate the first length accumulation and and the second length accumulation and, this is not limited by the present invention.

Step S102, by the first length accumulation and and the second length accumulate and be compared, determined according to comparative result The arragement direction of cleaning route.

By above-mentioned steps S102 obtained the first length accumulation and and the second length accumulation and, by the first length accumulate With and the second length accumulation and be compared, if the first length accumulation and more than the second length accumulation and, show, compared to It is more reasonable in second direction setting cleaning route, the length of the cleaning route set in a first direction；If the first length is accumulated Accumulate and then show, compared to cleaning route is set in a first direction, what is set in a second direction is clear with less than the second length Clean route is more reasonable, thus can according to the first length accumulate and and the second length accumulate sum comparative result, it is determined that cleaning The arragement direction of route.

Step S103, a plurality of cleaning route of being arranged along arragement direction in enclosed region.

Above-mentioned steps determine the arragement direction of cleaning route, then in the enclosed region interior edge arragement direction according to default The a plurality of cleaning route that is intervally arranged, wherein, the default interval can be consistent with the diameter of clean robot, the present invention to this It is not construed as limiting.

The arrangement method of the cleaning route provided by the present embodiment, by controlling clean robot along region to be cleaned Border row takes a round, and records closed path curve corresponding in walking process；It is determined that positioned at closed path curvilinear inner Enclosed region, respectively calculate enclosed region correspond to first direction the first length accumulation and and enclosed region correspond to second Direction the second length accumulation and；By the first length accumulation and and the second length accumulate and be compared, according to comparative result Determine the arragement direction of cleaning route；Arranged along arragement direction in enclosed region a plurality of cleaning route；What the present embodiment provided Method by calculate in the region in closed path curve two different directions length accumulation and, according to length accumulation and really Determine cleaning route arragement direction, so as to cleaning route of arranging, can avoid causing clearly because the setting of cleaning route direction is unreasonable Clean robot frequently reverses end for end, so as to save energy consumption and lift the cleaning speed of clean robot.

Fig. 2 shows the schematic flow sheet of the arrangement method of cleaning route in accordance with another embodiment of the present invention, such as Fig. 2 Shown, this method includes：

Step S201, the environmental map corresponding to clean robot is divided into multiple blocks, respectively for each block, The block is further divided into multiple grids.

Environmental map according to corresponding to clean robot can determine region to be cleaned, clean robot constructing environment The mode of map includes but is not limited to following mode：Utilize SLAM (simultaneous localization and Mapping, positioning is with building figure immediately) map positions with positioning structure module to clean robot, while builds cleaner The environmental map of device people present position, clean robot are provided with generating laser, and laser transmitter projects go out laser, and laser is met Reflected during to barrier, SLAM is according to transmitting and the laser constructing environment map reflected.It is it should be noted that existing Every mode that can be used in building environmental map corresponding to the clean robot in the present embodiment is included in protection of the present invention In the range of.

Environmental map is divided into multiple blocks according to default rule, according to the clear of each Zone Plan clean robot Clean route, provided convenience for route planning process, clean robot is cleaned according to each block, and then improved clear Clean efficiency.

For each block, each block is further divided into multiple grids, facilitates subsequent step to calculate the first length Degree accumulation and and the second length accumulation and.

Step S202, rule is determined according to default effective block, is successively defined as each block in multiple blocks Effective block, then region to be cleaned is the region in the currently active block.

The method of the present embodiment is cleaned to each block, had by the way that environmental map is divided into multiple blocks successively Block to be imitated to refer to be currently needed for the block cleaned, then region corresponding to the currently active block is exactly region to be cleaned, according to Default effective block determines that each block corresponding to environmental map is defined as effective block successively and cleaned by rule, works as ring Multiple block cleanings finish corresponding to the figure of condition, that is, show that region clean finishes corresponding to environmental map.

Step S203, border row of the control clean robot along region to be cleaned takes a round, and records institute in walking process Corresponding closed path curve, it is determined that the enclosed region positioned at closed path curvilinear inner.

After region to be cleaned is determined, the region to be cleaned is cleaned, the method for the present embodiment first controls clearly The border row in clean Robot region to be cleaned takes a round, and record clean robot along zone boundary row to be cleaned when taking a round Corresponding closed path curve, by the closed path curve corresponding to region to be cleaned can determine reachable region with it is non- Reachable region.If barrier is not present in the effective block, the closed path curve is the border institute in the region to be cleaned Corresponding curve；If barrier be present in the region to be cleaned, the closed path curve is the side according to the region to be cleaned The curve that curve corresponding to boundary and the shape of barrier and/or position determine, also, the shape of the curve may be irregular Shape.

It is determined that positioned at the enclosed region of closed path curvilinear inner, for subsequent treatment.

Step S204, obtain the quantity of grid arranged in the first direction in enclosed region, according to the quantity of grid and Lattice dimensions determine enclosed region correspond to first direction the first length accumulation and；Obtain and arranged in a second direction in enclosed region The quantity of the grid of cloth, determine that enclosed region corresponds to the second length of second direction according to the quantity of grid and lattice dimensions Accumulation and.

In the application of reality, clean robot is cleaned according to the cleaning route pre-set, but with fixed One direction sets cleaning route to be not suitable for various scenes, the cleaning route in long and narrow region may be made unreasonable, clearly Clean robot repeatedly reverses end for end when cleaning the long and narrow region, but for clean robot, when designing cleaning route, Need to make cleaning route as long as possible, to reduce u-turn number of the clean robot during cleaning, so as to improve cleaning Efficiency, the method that the present embodiment provides can rationally arrange cleaning route according to information such as the shape in region to be cleaned, the length of sides, with Cleaned for clean robot by cleaning route.

By compare corresponding to first direction the accumulation of the first length and and second direction corresponding to the accumulation of the second length and To determine cleaning route arragement direction, specifically, environmental map is divided into multiple blocks by above-mentioned steps, further will be each Individual block is divided into multiple grids, then can calculate the accumulation of the first length and and the second length according to the grid in enclosed region Degree accumulation and.

When the quantity for the grid arranged in the first direction in enclosed region is multigroup, calculate corresponding to multigroup quantity most Big value, average value and/or minimum value, enclosed region pair is determined according to maximum, average value and/or minimum value and lattice dimensions Should in first direction the first length accumulation and；

When the quantity for the grid arranged in a second direction in enclosed region is multigroup, calculate corresponding to multigroup quantity most Big value, average value and/or minimum value, closed area is determined according to the maximum, average value and/or minimum value and lattice dimensions Domain correspond to second direction the second length accumulation and.

In actual applications, the preset coordinate system in region to be cleaned, according to the preset coordinate system determine first direction and Second direction, i.e. first direction are the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is parallel to pre- If the direction of the longitudinal coordinate axle in coordinate system, third direction be by preset coordinate system origin, and with transverse coordinate axis it Between in predetermined angle straight line corresponding to direction.

As shown in figure 3, dash area is barrier corresponding to region to be cleaned, what is divided by a dotted line is each minimum square Shape is grid, and the length of side of grid is 0.01 meter, and first direction is the direction parallel with transverse coordinate axis, and second direction is and longitudinal direction The parallel direction of reference axis, using every a line grid of first direction as one group of grid, each row grid in second direction is made For one group of grid.As shown in figure 3, barrier inside the enclosed region be present, totally 9 groups of the grid on first direction, wherein 3 groups Grid difference quantity is 13, and 6 groups of grid is located at the both sides of barrier respectively in addition, and grid quantity is respectively 6, then counts The average value of the quantity of the grid of first direction is calculated, the length of side of average value and grid further according to the quantity of grid calculates laterally The first length accumulation in direction and, i.e., the quantity of total grid divided by total group number are multiplied by with the length of side of grid, being calculated the One length is accumulated and for 0.083 meter.Totally 13 groups of grid in second direction, wherein 12 groups of grid quantity is respectively 6, in addition 1 group of grid quantity is 3, can similarly calculate the second length in second direction and accumulate and for 0.058 meter.

In addition, when having multirow grid on first direction in enclosed region, when having multiple row grid in second direction, in order to improve Efficiency, no longer will be per a line or each row grid as one group of grid, but according on certain rule extraction first direction A line grid as one group of grid, or according to certain rule extraction second direction previous column grid as one group of grid, Such as extract a line grid in every line in a first direction in enclosed region as one group of grid, in a second direction every One row extract a row grid as one group of grid, according to the sum of the grid extracted, the group number and grid of the grid extracted The length of sides of lattice calculate the accumulation of the first length and and the accumulation of the second length and.

In addition, can also be according to the grid corresponding to maximum or minimum a line of grid quantity on first direction in enclosed region Lattice quantity and the length of side of grid calculate the accumulation of the first length and, according to grid quantity in second direction in enclosed region it is maximum or The corresponding grid quantity of the minimum row of person and the length of side of grid calculate the accumulation of the second length and.As shown in figure 3, first party The maximum a line of upward grid quantity includes 13 grids, then the first length is accumulated and for 0.13 meter, grid number in second direction The maximum row of amount include 6 grids, then the second length is accumulated and for 0.06 meter；Minimum a line of grid quantity on first direction Including 6 grids, then the first length accumulation and for 0.06 meter, the minimum row of grid quantity include 3 grids in second direction, Then the second length is accumulated and for 0.03 meter.

It should be noted that the present invention to calculate the first length accumulation and and the second length accumulate sum mode do not limit Fixed, this area staff can be configured according to being actually needed.

Step S205, calculate the first length accumulation and with the second length accumulation and between difference, judge whether difference big In preset difference value threshold value.If so, step S206 is then performed, if it is not, then performing step S209.

By above-mentioned steps calculate the accumulation of the first length and with the accumulation of the second length and, but in practice, closed area The shape in domain may be one than more uniform shape, i.e. the first length accumulation and little with the accumulation of the second length and difference, no Pipe is arrangement cleaning route using first direction as arragement direction, or road is cleaned in arrangement using second direction as arragement direction Line, when clean robot is cleaned according to cleaning route, clean robot cleaning efficiency is suitable, point of no quality.Therefore, it is More reasonably planning cleaning route, it is necessary to judge the accumulation of the first length and with the accumulation of second length and between difference whether More than preset difference value threshold value.

In addition, in actual applications, it is also possible to which it is arragement direction still with second party that can exist either using first direction To for arragement direction, all shorter situation of obtained cleaning route, now, judge the accumulation of the first length and accumulated with the second length Whether be respectively smaller than pre-set length threshold, if so, then calculate enclosed region correspond to third direction the 3rd length accumulation and； Judge the accumulation of the 3rd length and whether be more than pre-set length threshold, if, it is determined that the arragement direction of cleaning route and third party To identical；If judging the accumulation of the 3rd length and again smaller than pre-set length threshold, cleaning road is determined according to default arranging rule The arragement direction of line.Preferably, third direction is in corresponding to default 45 degree straight line between transverse coordinate axis in coordinate system Direction.

The enclosed region that closed path curve 40 as shown in Figure 4 is surrounded, first direction is parallel to lateral coordinates axle, and Two are oriented parallel to longitudinal coordinate axle.Set in the enclosed region in the first direction or second direction arrangement cleaning route, Every cleaning route is all shorter so that the cleaning effect of clean robot is poor, and u-turn number is more so as to increase energy consumption, then now Calculate enclosed region correspond to third direction the accumulation of the 3rd length and, the 3rd length accumulation and more than pre-set length threshold, then Show overall longer according to the cleaning route of third direction arrangement.

If judging the accumulation of the first length and/or the accumulation of the second length and not less than pre-set length threshold, show with first Direction or second direction are arragement direction, and the cleaning route of arrangement is longer, then compare the first length accumulation and with the second length Accumulation and, it is determined that more excellent along which direction cleaning route effect of arranging.

Step S206, determine the first length accumulation and whether be more than the second length accumulation and.If so, then perform step S207, if otherwise performing step S208.

If judge the first length accumulation and with the second length accumulation and between difference be more than preset difference value threshold value, table The bright cleaning route according to first direction arrangement is with the cleaning route arranged according to second direction, cleaning route in the case of two kinds Efficiency that length and clean robot are cleaned according to cleaning route, u-turn number have larger difference, then subsequent step According to the accumulation of the first length and and the accumulation of the second length and the arragement direction for determining cleaning route.

Step S207, determine that the arragement direction of cleaning route is identical with first direction.

If judge the first length accumulation and with the second length accumulation and between difference be more than preset difference value threshold value, and First length accumulate and more than the second length accumulation and, it is determined that the arragement direction of cleaning route is identical with first direction.

Step S208, determine that the arragement direction of cleaning route is identical with second direction.

If judge the first length accumulation and with the second length accumulation and between difference be more than preset difference value threshold value, and First length accumulate and less than the second length accumulation and, it is determined that the arragement direction of cleaning route is identical with second direction.

In addition, according to described by the above, if judging the accumulation of the first length and with the accumulation of the second length and respectively Less than pre-set length threshold, and judge that the 3rd length is accumulated and more than pre-set length threshold, it is determined that the arrangement of cleaning route Direction is identical with third direction.

Step S209, the arragement direction of cleaning route is determined according to default arranging rule.

If judge the first length accumulation and with the second length accumulation and between difference be not more than preset difference value threshold value, Show cleaning route of being arranged either using first direction as arragement direction, or arranged clearly using second direction as arragement direction Clean route, when clean robot is cleaned according to cleaning route, clean robot cleaning effect is suitable, point of no quality, then The arragement direction of cleaning route is now determined according to default arranging rule, for example, the first length accumulate and with the second length Accumulation and between difference when be not more than preset difference value threshold value, then give tacit consent to the arragement direction using first direction as cleaning route.

Step S210, a plurality of cleaning route of being arranged along arragement direction in enclosed region.

Above-mentioned steps determine the arragement direction of cleaning route, then in enclosed region interior edge arragement direction, according to certain The a plurality of cleaning route of spacing arrangement, so that clean robot is cleaned according to a plurality of cleaning route, the spacing can be set to clear The diameter of clean robot, this is not limited by the present invention.

In the application of reality, when arranging cleaning route, non-reachable cleaning route occurs unavoidably, i.e. the cleaning road Line is in non-accessibility region, therefore in order to be further ensured that the cleaning efficiency of clean robot, makes clean robot edge Cleaning route can effectively clean a part of region, it is necessary to whether check cleaning route before being cleaned along cleaning route For effective cleaning route, ineffective cleaning route in cleaning route is filtered out with this.

Realized especially by the following manner：

It is determined that the reachable region corresponding with closed path curve and being arrived with corresponding non-of closed path curve Up to region；State value corresponding to reachable region is arranged to the first numerical value, by the state value corresponding to non-reachable region It is arranged to second value；The state value corresponding to two end points of every cleaning route is recorded respectively, from a plurality of cleaning route Filter out the cleaning route that the state value corresponding to two end points is second value.

Wherein, the reachable region corresponding with closed path curve is located at the closed area of closed path curvilinear inner formation The inside in domain；The non-reachable region corresponding with closed path curve is located at the enclosed region of closed path curvilinear inner formation Outside.

The reachable region corresponding with closed path curve includes：Environmental map according to corresponding to clean robot is true Fixed non-barrier region；The non-reachable region corresponding with closed path curve includes：According to corresponding to clean robot Environmental map determine barrier region.

Further, the state value corresponding to each grid in reachable region is arranged to the first numerical value, will be non- The state value corresponding to each grid in reachable region is arranged to second value；

In specific application, the enclosed region surrounded for closed path curve can be by the closed path curve Reachable region corresponding to state value be arranged to 0, i.e., the state value of non-barrier region in closed path curve is set to 0；And the state value corresponding to non-reachable region is arranged to 1, i.e., by the region of closed path extra curvature and closure road The state value of barrier region inside diametal curve is set to 1, i.e., state value corresponding to the region that clean robot can reach is set For 0, state value corresponding to the region that clean robot can not reach is set to 1.

As shown in figure 5, clean robot along area row to be cleaned take a round the closed path to be formed shape matching it is special, The barrier that region inside closed path curve 50 includes the region of the encirclement of closed path curve 50 and parallax is filled Region, the region that parallax is filled be with the non-reachable region corresponding to closed path curve 50, then it is bent in closed path In the enclosed region of line during arrangement cleaning route, can also arrange cleaning route in the non-reachable region, then by its state value 1 is set to, the region that closed path curve surrounds is reachable region corresponding with closed path curve 50, and its state value is set to 0, dotted line corresponds to a plurality of cleaning route, and because clean robot tool has the dimensions, therefore the end points of cleaning route is from closing Combining diametal curve has a certain distance.

Specifically, after setting cleaning route along arragement direction, the state of two end points of each bar cleaning route is recorded Value, clean robot extract the state value of two end points of the cleaning route, to clear when being cleaned according to cleaning route The state value of two end points of clean route is judged, if the state value for judging two end points is 0, it is determined that the cleaning road Line is effective cleaning route, clean robot is walked along this cleaning route；If judge one of end of cleaning route The state value of point is 1, and the state value of another end points is 0, then the end points that clean robot is 0 from the state value of the cleaning route Start to clean；If the state value for judging two end points of cleaning route is 1, it is determined that the cleaning route is ineffective cleaning road Line, filter out this cleaning route.

As shown in figure 5, the state value of two end points of cleaning route 51 is 1, it is ineffective cleaning to judge cleaning route 51 Route, then cleaning route 51 is filtered out, and judge whether next cleaning route be effective；The shape of two end points of cleaning route 50 State value is 0, as effective cleaning route, then clean robot is walked according to cleaning route 50, to clean corresponding region, when clear Effective cleaning route in the complete enclosed region of clean robot ambulation, shows that the cleaning of the enclosed region finishes.

The arrangement method of the cleaning route provided according to the present embodiment, the environmental map corresponding to clean robot is split For multiple blocks, respectively for each block, the block is further divided into multiple grids；It is true according to default effective block Each block in multiple blocks then, is defined as effective block by set pattern successively, then region to be cleaned is positioned at the currently active area Region in block；Control border row of the clean robot along region to be cleaned to take a round, and record corresponding in walking process Closed path curve, it is determined that the enclosed region positioned at closed path curvilinear inner；Obtain and arranged in the first direction in enclosed region Grid quantity, according to the quantity of grid and lattice dimensions determine enclosed region correspond to first direction the first length tire out Product and；The quantity for the grid arranged in a second direction in enclosed region is obtained, is determined according to the quantity of grid and lattice dimensions Enclosed region correspond to second direction the second length accumulation and；Calculate the first length accumulation and with the second length accumulation and between Difference, judge whether difference is more than preset difference value threshold value, above-mentioned difference is more than preset difference value threshold value if judging, judges One length accumulate and whether be more than the second length accumulation and, if so, determine cleaning route arragement direction it is identical with first direction, If it is not, determine that the arragement direction of cleaning route is identical with second direction；If above-mentioned difference is not more than preset difference value threshold value, according to Default arranging rule determines the arragement direction of cleaning route；Arranged along arragement direction in enclosed region a plurality of cleaning route.It is logical Cross and environmental map be divided into block, each block is further divided into grid, accumulated for computational length and provide foundation, Make it possible to be accumulated according to above-mentioned length and determine cleaning route arragement direction, so as to cleaning route of arranging；The side of the present embodiment The method that method provides a variety of determination cleaning route arragement directions, according to accumulation and the cleaning route arrangement side most having can be determined To so as to avoid causing clean robot frequently to be reversed end for end because the setting of cleaning route direction is unreasonable, so as to save energy consumption And lift the cleaning speed of clean robot；In addition, by setting reachable region state corresponding with non-reachable region, Make clean robot before being cleaned according to cleaning route, according to state corresponding to cleaning route two-end-point, judge cleaning route Whether effectively, and invalid cleaning route is filtered out, so as to lift the cleaning efficiency of clean robot.

Fig. 6 shows the structural representation of the arrangement apparatus of the cleaning route according to another embodiment of the invention, such as Fig. 6 It is shown, including：

Control module 601, taken a round suitable for border row of the control clean robot along region to be cleaned；

Logging modle 602, suitable for closed path curve corresponding in record walking process；

Computing module 603, the enclosed region positioned at closed path curvilinear inner is adapted to determine that, calculates enclosed region pair respectively Should in first direction the first length accumulation and and enclosed region correspond to second direction the second length accumulation and；

Arragement direction determining module 604, suitable for by the first length accumulation and and the second length accumulate and be compared, root The arragement direction of cleaning route is determined according to comparative result；

Cleaning route arrangement module 605, suitable for a plurality of cleaning route of being arranged along arragement direction in enclosed region.

Alternatively, arragement direction determining module 604 is further adapted for：

Determine the first length accumulation and whether be more than the second length accumulation and；

If, it is determined that the arragement direction of cleaning route is identical with first direction；If not, it is determined that the arrangement of cleaning route Direction is identical with second direction.

Alternatively, said apparatus further comprises：

Difference judge module：Calculate the first length accumulation and with the second length accumulation and between difference, judge that difference is It is no to be more than preset difference value threshold value；

Arragement direction determining module 604 is further adapted for, if difference is more than preset difference value threshold value, is performed and is determined the first length Degree accumulation and whether be more than the second length accumulation and the step of；

Arragement direction determining module 604 is further adapted for, if difference is not more than preset difference value threshold value, according to default arrangement Rule determines the arragement direction of cleaning route.

Alternatively, default arranging rule includes：

Judge the accumulation of the first length and accumulate with the second length and whether be respectively smaller than pre-set length threshold, if so, then counting Calculate enclosed region correspond to third direction the 3rd length accumulation and；

Judge the accumulation of the 3rd length and whether be more than pre-set length threshold, if, it is determined that the arragement direction of cleaning route It is identical with third direction.

Alternatively, first direction is the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is parallel The direction of longitudinal coordinate axle in preset coordinate system, then third direction be by preset coordinate system origin, and with horizontal seat It is in the direction corresponding to the straight line of predetermined angle between parameter.

Alternatively, predetermined angle is 45 degree.

Alternatively, default arranging rule includes：Determine that the arragement direction of cleaning route is identical with first direction, or, really The arragement direction for determining cleaning route is identical with second direction.

Alternatively, said apparatus further comprises：

Segmenting device, suitable for the environmental map corresponding to clean robot is divided into multiple blocks；

Effective block determining module, successively will be every in multiple blocks suitable for determining rule according to default effective block Individual block is defined as effective block, then region to be cleaned is the region in the currently active block.

Alternatively, for each block, the block is further divided into multiple grids, then computing module is further fitted In：The quantity for the grid arranged in the first direction in enclosed region is obtained, determines to close according to the quantity of grid and lattice dimensions Close region correspond to first direction the first length accumulation and；

Alternatively, computing module 603 is further adapted for：Obtain the number for the grid arranged in a second direction in enclosed region Amount, according to the quantity of grid and lattice dimensions determine enclosed region correspond to second direction the second length accumulation and.

Alternatively, computing module 603 is further adapted for：When the quantity for the grid arranged in the first direction in enclosed region is When multigroup, maximum, average value and/or minimum value corresponding to multigroup quantity are calculated, according to maximum, average value and/or most Small value and lattice dimensions determine enclosed region correspond to first direction the first length accumulation and；

Alternatively, computing module 603 is further adapted for：When the quantity for the grid arranged in a second direction in enclosed region is When multigroup, maximum, average value and/or minimum value corresponding to multigroup quantity are calculated, according to maximum, average value and/or most Small value and lattice dimensions determine enclosed region correspond to second direction the second length accumulation and.

Alternatively, said apparatus further comprises：

Area determination module, it is adapted to determine that the reachable region corresponding with closed path curve and bent with closed path The corresponding non-reachable region of line；

State setting module, will be non-reachable suitable for the state value corresponding to reachable region is arranged into the first numerical value State value corresponding to region is arranged to second value；

Logging modle, suitable for recording the state value corresponding to two end points of every cleaning route respectively, from a plurality of cleaning The cleaning route that the state value corresponding to two end points is second value is filtered out in route.

Alternatively, the reachable region corresponding with closed path curve is located at the closure of closed path curvilinear inner formation The inside in region；The non-reachable region corresponding with closed path curve is located at the closed area of closed path curvilinear inner formation The outside in domain.

Alternatively, the reachable region corresponding with closed path curve includes：Ring according to corresponding to clean robot The non-barrier region that condition figure determines；The non-reachable region corresponding with closed path curve includes：According to cleaning machine The barrier region that environmental map corresponding to people determines.

The concrete structure and operation principle of above-mentioned modules can refer to the description of corresponding steps in embodiment of the method, herein Repeat no more.

Fig. 7 shows a kind of structural representation of computing device according to embodiments of the present invention, the specific embodiment of the invention The specific implementation to computing device does not limit.

As shown in fig. 7, the computing device can include：Processor (processor) 702, communication interface (Communications Interface) 704, memory (memory) 706 and communication bus 708.

Wherein：

Processor 702, communication interface 704 and memory 706 complete mutual communication by communication bus 708.

Communication interface 704, for being communicated with the network element of miscellaneous equipment such as client or other servers etc..

Processor 702, for configuration processor 710, it is real can specifically to perform the above-mentioned clean method for clean robot Apply the correlation step in example.

Specifically, program 710 can include program code, and the program code includes computer-managed instruction.

Processor 702 is probably central processor CPU, or specific integrated circuit ASIC (Application Specific Integrated Circuit), or it is arranged to implement the integrated electricity of one or more of the embodiment of the present invention Road.The one or more processors that computing device includes, can be same type of processor, such as one or more CPU；Also may be used To be different types of processor, such as one or more CPU and one or more ASIC.

Memory 706, for depositing program 710.Memory 706 may include high-speed RAM memory, it is also possible to also include Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.

Program 710 specifically can be used for so that processor 702 performs following operation：

It is determined that positioned at the enclosed region of closed path curvilinear inner, enclosed region corresponds to first direction the is calculated respectively One length accumulate and and enclosed region correspond to second direction the second length accumulation and；

By the first length accumulation and and the second length accumulate and be compared, cleaning route is determined according to comparative result Arragement direction；

Arranged along arragement direction in enclosed region a plurality of cleaning route.

Program 710 specifically can be also used for so that processor 702 performs following operation：

By the first length accumulation and and the second length accumulate and be compared, cleaning route is determined according to comparative result The step of arragement direction, specifically includes：

Calculate the first length accumulation and with the second length accumulation and between difference, judge whether difference is more than preset difference value Threshold value；

If so, then perform determine the first length accumulation and whether be more than the second length accumulation and the step of；

If it is not, the arragement direction of cleaning route is then determined according to default arranging rule.

First direction is the direction parallel to the transverse coordinate axis in preset coordinate system, and second direction is parallel to default seat The direction of longitudinal coordinate axle in mark system, then third direction is the origin by preset coordinate system, and between transverse coordinate axis In the direction corresponding to the straight line of predetermined angle.

Predetermined angle is 45 degree.

Default arranging rule includes：Determine that the arragement direction of cleaning route is identical with first direction, or, it is determined that cleaning road The arragement direction of line is identical with second direction.

Environmental map corresponding to clean robot is divided into multiple blocks；

Rule is determined according to default effective block, each block in multiple blocks is defined as effective block successively, Then region to be cleaned is the region in the currently active block.

The quantity for the grid arranged in the first direction in enclosed region is obtained, it is true according to the quantity of grid and lattice dimensions Determine enclosed region corresponding to first direction the first length accumulation and；

The quantity for the grid arranged in a second direction in enclosed region is obtained, it is true according to the quantity of grid and lattice dimensions Determine enclosed region corresponding to second direction the second length accumulation and.

When the quantity for the grid arranged in a second direction in enclosed region is multigroup, calculate corresponding to multigroup quantity most Big value, average value and/or minimum value, enclosed region pair is determined according to maximum, average value and/or minimum value and lattice dimensions Should in second direction the second length accumulation and.

It is determined that the reachable region corresponding with closed path curve and being arrived with corresponding non-of closed path curve Up to region；

State value corresponding to reachable region is arranged to the first numerical value, by the state value corresponding to non-reachable region It is arranged to second value；

The state value corresponding to two end points of every cleaning route is recorded respectively, and two are filtered out from a plurality of cleaning route State value corresponding to end points is the cleaning route of second value.

The reachable region corresponding with closed path curve is located at the enclosed region of closed path curvilinear inner formation It is internal；The non-reachable region corresponding with closed path curve is located at the outer of the enclosed region of closed path curvilinear inner formation Portion.

The non-barrier region that environmental map according to corresponding to clean robot determines；It is corresponding with closed path curve Non- reachable region include：The barrier region that environmental map according to corresponding to clean robot determines.

Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein. Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair Bright preferred forms.

In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this description.

Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect, Above in the description to the exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor The application claims of shield features more more than the feature being expressly recited in each claim.It is more precisely, such as following Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore, Thus the claims for following embodiment are expressly incorporated in the embodiment, wherein each claim is in itself Separate embodiments all as the present invention.

Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation Replace.

In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed One of meaning mode can use in any combination.

The all parts embodiment of the present invention can be realized with hardware, or to be run on one or more processor Software module realize, or realized with combinations thereof.It will be understood by those of skill in the art that it can use in practice Microprocessor or digital signal processor (DSP) realize the arrangement computing device of cleaning route according to embodiments of the present invention In some or all parts some or all functions.The present invention is also implemented as described herein for performing The some or all equipment or program of device (for example, computer program and computer program product) of method.So Realization the present invention program can store on a computer-readable medium, or can have one or more signal shape Formula.Such signal can be downloaded from internet website and obtained, and either be provided or with any other shape on carrier signal Formula provides.

It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such Element.The present invention can be by means of including the hardware of some different elements and being come by means of properly programmed computer real It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame Claim.

Claims

1. a kind of arrangement method of cleaning route, including：

Control border row of the clean robot along region to be cleaned to take a round, and record closed path corresponding in walking process Curve；

It is determined that positioned at the enclosed region of the closed path curvilinear inner, the enclosed region is calculated respectively and corresponds to first direction The first length accumulation and and the enclosed region correspond to second direction the second length accumulation and；

By first length accumulation and and second length accumulate and be compared, according to comparative result determine cleaning road The arragement direction of line；

2. according to the method for claim 1, wherein, it is described by first length accumulation and and second length tire out Accumulate and specifically included the step of being compared, the arragement direction of cleaning route is determined according to comparative result：

If, it is determined that the arragement direction of the cleaning route is identical with the first direction；If not, it is determined that the cleaning road The arragement direction of line is identical with the second direction.

3. according to the method for claim 2, wherein, determination first length is accumulated and whether is more than described second Length accumulate and the step of before, further comprise step：

Calculate first length accumulation and with second length accumulation and between difference, judge whether the difference is more than Preset difference value threshold value；

If so, then perform it is described determine first length accumulation and whether be more than second length accumulation and the step of；

4. according to the method for claim 3, wherein, the default arranging rule includes：

Judge the first length accumulation and accumulate with second length and whether be respectively smaller than pre-set length threshold, if so, Then calculate the enclosed region corresponding to third direction the 3rd length accumulation and；

Judge the 3rd length accumulation and whether be more than the pre-set length threshold, if, it is determined that the cleaning route Arragement direction is identical with the third direction.

5. according to the method for claim 4, wherein, the first direction is parallel to the lateral coordinates in preset coordinate system The direction of axle, second direction are the direction parallel to the longitudinal coordinate axle in preset coordinate system, then the third direction is process The origin of the preset coordinate system, and between the transverse coordinate axis in predetermined angle straight line corresponding to direction.

6. according to the method for claim 5, wherein, the predetermined angle is 45 degree.

7. a kind of arrangement apparatus of cleaning route, including：

Computing module, the enclosed region positioned at the closed path curvilinear inner is adapted to determine that, calculates the enclosed region respectively Corresponding to first direction the first length accumulation and and the enclosed region correspond to second direction the second length accumulation and；

Arragement direction determining module, suitable for by first length accumulation and and second length accumulate and be compared, The arragement direction of cleaning route is determined according to comparative result；

8. a kind of robot, include the arrangement apparatus of cleaning route described in claim 7.

9. a kind of electronic equipment, including：Processor, memory, communication interface and communication bus, the processor, the storage Device and the communication interface complete mutual communication by the communication bus；

The memory is used to deposit an at least executable instruction, and the executable instruction makes the computing device such as right will Ask and operated corresponding to the arrangement method of the cleaning route any one of 1-6.

10. a kind of computer-readable storage medium, an at least executable instruction, the executable instruction are stored with the storage medium Make operation corresponding to the arrangement method of cleaning route of the computing device as any one of claim 1-6.